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fix fake

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This commit is contained in:
Robofish 2026-03-09 14:59:52 +08:00
parent 37554e7dd7
commit 7891a9e12b
1 changed files with 4 additions and 4 deletions
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8
src/rm_nav/rm_nav_bringup/config/reality/nav2_params_real.yaml
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@ -51,7 +51,7 @@ bt_navigator:
ros__parameters: ros__parameters:
use_sim_time: False use_sim_time: False
global_frame: map global_frame: map
robot_base_frame: base_link_fake robot_base_frame: base_link
odom_topic: /Odometry odom_topic: /Odometry
bt_loop_duration: 10 bt_loop_duration: 10
default_server_timeout: 20 default_server_timeout: 20
@ -259,7 +259,7 @@ local_costmap:
update_frequency: 20.0 update_frequency: 20.0
publish_frequency: 10.0 publish_frequency: 10.0
global_frame: map global_frame: map
robot_base_frame: base_link_fake robot_base_frame: base_link
use_sim_time: False use_sim_time: False
rolling_window: true rolling_window: true
width: 5 width: 5
@ -293,7 +293,7 @@ global_costmap:
update_frequency: 5.0 update_frequency: 5.0
publish_frequency: 2.0 publish_frequency: 2.0
global_frame: map global_frame: map
robot_base_frame: base_link_fake robot_base_frame: base_link
use_sim_time: False use_sim_time: False
robot_radius: 0.2 robot_radius: 0.2
resolution: 0.04 resolution: 0.04
@ -383,7 +383,7 @@ recoveries_server:
backup: backup:
plugin: "nav2_recoveries/BackUp" plugin: "nav2_recoveries/BackUp"
global_frame: odom global_frame: odom
robot_base_frame: base_link_fake robot_base_frame: base_link
transform_timeout: 0.1 transform_timeout: 0.1
use_sim_time: False use_sim_time: False
simulate_ahead_time: 1.0 simulate_ahead_time: 1.0